version: 66.06
glider: 146
mission: 5
dive: 126
start: 9 2 110 20 12 1
data:
$ID,146
$MISSION,5
$DIVE,126
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,208
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52407
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-249885.56
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1770
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3001
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043563824
$SEABIRD_T_H,0.00063101487
$SEABIRD_T_I,2.4083547e-05
$SEABIRD_T_J,2.5612533e-06
$SEABIRD_C_G,-9.9059887
$SEABIRD_C_H,1.1423759
$SEABIRD_C_I,-0.0019893181
$SEABIRD_C_J,0.00023308786
$GPS1,200437,2256.259,-15743.992,31,2.0,31,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-69.1
$GPS2,201106,2256.234,-15744.014,10,1.4,26,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.153,-0.155
$KALMAN_X,-118741.4,-137.5,98.2,164545.8,-1241.2
$KALMAN_Y,-748.5,-257.3,-292.7,141415.2,-143.5
$MHEAD_RNG_PITCHd_Wd,214.5,22521,-16.1,-8.013
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.15,-116.8,0.0,0.0,0,104,0.00,0.00,-85.82,0.000,6,0.000,0.000,472,1751,3479,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.3,-6.2,11,125,11.60,2.60,0.00,0.000,4,0.142,0.054,2742,204,3481,0,0,0,0,0,0
$GC,282,-0.99,-116.8,43.5,-15.4,30,287,0.17,2.40,0.00,0.000,6,0.100,0.015,2781,1783,3482,0,0,0,0,0,0
$GC,550,-0.93,-116.8,79.9,-13.6,54,554,0.00,2.42,0.00,0.000,4,0.000,0.024,2781,3324,3481,0,0,0,0,0,0
$GC,571,-0.87,-116.8,83.3,-13.9,55,576,0.12,2.47,0.00,0.000,6,0.104,0.028,2809,1782,3481,0,0,0,0,0,0
$GC,839,-0.91,-116.8,109.4,-9.1,79,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1782,3482,0,0,0,0,0,0
$GC,1101,-0.96,-116.8,129.7,-7.4,104,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1782,3483,0,0,0,0,0,0
$GC,1356,-1.03,-116.8,148.1,-8.3,128,1362,0.15,2.70,0.00,0.000,4,0.115,0.062,2761,197,3483,0,0,0,0,0,0
$GC,1377,-1.03,-116.8,149.8,-9.0,129,1381,0.00,2.35,0.00,0.000,6,0.000,0.016,2761,1776,3483,0,0,0,0,0,0
$GC,1641,-1.03,-116.8,176.4,-9.8,153,1645,0.00,2.42,0.00,0.000,4,0.000,0.031,2761,3310,3483,0,0,0,0,0,0
$GC,1664,-1.03,-116.8,178.7,-8.9,154,1670,0.00,2.47,0.00,0.000,6,0.000,0.031,2761,1765,3483,0,0,0,0,0,0
$GC,1944,-1.03,-116.8,203.8,-8.6,178,1949,0.00,2.67,0.00,0.000,4,0.000,0.074,2761,196,3483,0,0,0,0,0,0
$GC,1971,-1.03,-116.8,206.3,-9.3,178,1975,0.00,2.33,0.00,0.000,6,0.000,0.017,2761,1756,3483,0,0,0,0,0,0
$GC,2228,-1.03,-116.8,227.1,-7.8,185,2232,0.00,2.42,0.00,0.000,4,0.000,0.033,2761,3309,3483,0,0,0,0,0,0
$GC,2255,-1.03,-116.8,229.6,-8.0,185,2259,0.00,2.50,0.00,0.000,6,0.000,0.035,2761,1755,3483,0,0,0,0,0,0
$GC,2505,-1.03,-116.8,249.9,-8.2,191,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1754,3483,0,0,0,0,0,0
$GC,2750,-1.03,-116.8,269.2,-7.7,197,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1754,3482,0,0,0,0,0,0
$GC,2992,-1.03,-116.8,290.1,-9.1,203,2996,0.00,2.47,0.00,0.000,4,0.000,0.033,2761,3306,3482,0,0,0,0,0,0
$GC,3007,-1.03,-116.8,291.7,-9.8,203,3012,0.00,2.47,0.00,0.000,6,0.000,0.034,2761,1777,3481,0,0,0,0,0,0
$GC,3271,-1.07,-116.8,311.5,-7.2,210,3275,0.00,2.42,0.00,0.000,4,0.000,0.039,2761,3304,3481,0,0,0,0,0,0
$GC,3298,-1.12,-116.8,314.0,-8.7,210,3302,0.00,2.50,0.00,0.000,6,0.000,0.040,2761,1786,3481,0,0,0,0,0,0
$GC,3548,-1.16,-116.8,334.7,-8.2,216,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1786,3480,0,0,0,0,0,0
$GC,3793,-1.22,-116.8,352.2,-7.3,222,3799,0.12,2.92,0.00,0.000,4,0.074,0.097,2719,184,3480,0,0,0,0,0,0
$GC,3855,-1.18,-116.8,359.0,-11.2,223,3860,0.10,2.45,0.00,0.000,6,0.120,0.028,2742,1728,3479,0,0,0,0,0,0
$GC,4116,-1.18,-116.8,383.4,-9.1,230,4120,0.00,2.65,0.00,0.000,4,0.000,0.053,2742,3353,3478,0,0,0,0,0,0
$GC,4156,-1.23,-116.8,386.7,-8.4,231,4161,0.00,2.62,0.00,0.000,6,0.000,0.055,2742,1786,3478,0,0,0,0,0,0
$GC,4439,-1.23,-116.8,408.1,-7.2,238,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1786,3476,0,0,0,0,0,0
$GC,4683,-1.23,-116.8,424.8,-6.8,244,4687,0.00,2.58,0.00,0.000,4,0.000,0.041,2742,3354,3474,0,0,0,0,0,0
$GC,4724,-1.29,-116.8,427.6,-7.0,245,4729,0.10,2.67,0.00,0.000,6,0.084,0.054,2708,1781,3474,0,0,0,0,0,0
$GC,5007,-1.29,-116.8,452.3,-8.9,252,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1781,3472,0,0,0,0,0,0
$GC,5251,-1.29,-116.8,471.6,-7.9,258,5256,0.00,2.97,0.00,0.000,4,0.000,0.114,2707,183,3471,0,0,0,0,0,0
$GC,5269,-1.25,-116.8,473.1,-8.0,258,5274,0.10,2.60,0.00,0.000,6,0.123,0.040,2728,1784,3470,0,0,0,0,0,0
$GC,5530,-1.25,-116.8,495.4,-9.0,265,5534,0.00,2.67,0.00,0.000,4,0.000,0.064,2728,3357,3469,0,0,0,0,0,0
$GC,5562,-1.29,-116.8,498.7,-10.0,265,5568,0.00,2.70,0.00,0.000,6,0.000,0.061,2728,1785,3469,0,0,0,0,0,0
$STATE,5606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5606,begin apogee
$GC,5614,-0.31,0.0,502.9,9.3,267,5713,0.90,0.00,96.15,0.927,6,0.085,0.000,2931,1857,3001,0,0,0,0,0,0
$STATE,5714,end apogee,CONTROL_FINISHED_OK
$STATE,5714,begin climb
$GC,5717,1.15,116.8,505.7,0.0,269,5830,1.33,2.65,100.75,0.901,4,0.045,0.053,3253,3372,2522,0,0,0,0,0,0
$GC,5847,1.07,163.9,504.1,5.8,272,5896,0.00,2.70,41.45,0.874,6,0.000,0.060,3253,1818,2331,0,0,0,0,0,0
$GC,6171,0.95,163.9,472.7,10.3,280,6176,0.22,2.62,0.00,0.000,4,0.150,0.041,3207,3384,2322,0,0,0,0,0,0
$GC,6212,0.95,163.9,468.7,9.3,281,6216,0.00,2.67,0.00,0.000,6,0.000,0.054,3207,1825,2321,0,0,0,0,0,0
$GC,6495,0.95,170.2,446.2,7.7,288,6505,0.00,3.00,4.53,0.606,4,0.000,0.103,3207,231,2307,0,0,0,0,0,0
$GC,6529,0.86,170.2,443.6,8.3,288,6534,0.00,2.55,0.00,0.000,6,0.000,0.026,3207,1805,2306,0,0,0,0,0,0
$GC,6778,0.87,179.6,424.3,7.6,295,6794,0.00,2.70,10.25,0.790,4,0.000,0.051,3207,3405,2267,0,0,0,0,0,0
$GC,6827,0.90,197.7,420.8,7.2,296,6852,0.00,2.67,17.27,0.826,6,0.000,0.048,3207,1823,2194,0,0,0,0,0,0
$GC,7105,0.91,211.0,400.8,7.4,303,7124,0.00,2.67,12.40,0.800,4,0.000,0.041,3207,3412,2140,0,0,0,0,0,0
$GC,7148,0.94,232.6,397.6,7.0,304,7174,0.00,2.67,21.05,0.823,6,0.000,0.044,3207,1834,2052,0,0,0,0,0,0
$GC,7431,0.94,235.9,375.3,7.9,311,7436,0.00,2.60,0.00,0.000,4,0.000,0.038,3207,3414,2046,0,0,0,0,0,0
$GC,7465,1.00,242.6,372.4,7.7,311,7479,0.00,2.60,9.60,0.755,6,0.000,0.043,3207,1853,2010,0,0,0,0,0,0
$GC,7752,1.00,243.3,349.5,8.0,319,7757,0.00,2.88,0.00,0.000,4,0.000,0.081,3207,237,2007,0,0,0,0,0,0
$GC,7774,1.00,243.3,347.5,8.7,319,7779,0.00,2.60,0.00,0.000,6,0.000,0.023,3207,1875,2005,0,0,0,0,0,0
$GC,8030,1.00,243.3,326.6,8.3,326,8031,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1876,2005,0,0,0,0,0,0
$GC,8274,1.02,263.6,308.7,7.1,332,8295,0.00,0.00,19.27,0.775,6,0.000,0.000,3207,1876,1926,0,0,0,0,0,0
$GC,8519,1.08,273.4,291.1,7.6,338,8531,0.12,0.00,9.80,0.709,6,0.079,0.000,3241,1876,1886,0,0,0,0,0,0
$GC,8761,1.08,273.4,266.9,10.0,344,8765,0.00,2.47,0.00,0.000,4,0.000,0.038,3241,3418,1883,0,0,0,0,0,0
$GC,8787,1.08,273.4,264.0,10.7,344,8792,0.00,2.58,0.00,0.000,6,0.000,0.038,3242,1850,1882,0,0,0,0,0,0
$GC,9039,1.08,273.4,240.4,9.2,350,9040,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1849,1881,0,0,0,0,0,0
$GC,9281,1.08,273.4,215.6,10.4,356,9285,0.00,2.50,0.00,0.000,4,0.000,0.035,3241,3422,1882,0,0,0,0,0,0
$GC,9325,1.12,273.4,210.7,11.1,357,9329,0.00,2.50,0.00,0.000,6,0.000,0.033,3241,1869,1880,0,0,0,0,0,0
$GC,9589,1.12,273.4,183.6,9.6,374,9594,0.00,2.80,0.00,0.000,4,0.000,0.066,3241,240,1880,0,0,0,0,0,0
$GC,9634,1.12,273.4,178.8,10.6,377,9640,0.00,2.55,0.00,0.000,6,0.000,0.023,3241,1886,1880,0,0,0,0,0,0
$GC,9897,1.12,273.4,156.6,9.7,402,9898,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1888,1880,0,0,0,0,0,0
$GC,10151,1.12,273.4,132.4,9.3,426,10152,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1889,1880,0,0,0,0,0,0
$GC,10405,1.16,273.4,107.3,9.4,450,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1888,1880,0,0,0,0,0,0
$GC,10663,1.22,277.9,85.2,7.8,474,10674,0.10,0.00,4.80,0.439,6,0.090,0.000,3272,1889,1868,0,0,0,0,0,0
$GC,10930,1.25,306.0,65.3,6.7,499,10962,0.00,2.53,25.88,0.559,4,0.000,0.028,3271,3420,1753,0,0,0,0,0,0
$GC,10977,1.32,330.3,61.6,6.9,503,11005,0.00,2.60,22.08,0.545,6,0.000,0.032,3272,1854,1654,0,0,0,0,0,0
$GC,11265,1.32,330.3,36.9,9.3,529,11269,0.00,2.78,0.00,0.000,4,0.000,0.061,3272,237,1650,0,0,0,0,0,0
$GC,11286,1.32,330.3,34.7,10.0,530,11290,0.00,2.55,0.00,0.000,6,0.000,0.018,3271,1887,1649,0,0,0,0,0,0
$STATE,11596,end climb,SURFACE_DEPTH_REACHED
$STATE,11596,begin surface coast
$FINISH,0.3,1.023269
$STATE,11652,end surface coast,CONTROL_FINISHED_OK
$STATE,11653,begin surface
$SM_CCo,11675,79.25,0.448,1,0,1288,420.20
$SM_GC,0.94,0.00,0.00,79.25,0.000,0.000,0.448,476,1756,1288,-11.61,-0.40,420.20
$IRIDIUM_FIX,2248.70,-15742.79,271199,161650
$TT8_MAMPS,0.025311
$HUMID,43.54
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.70
$XPDR_PINGS,50
$24V_AH,23.5,20.274
$10V_AH,10.4,19.821
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.425,130.225,395.275,79.250,0.000,24.518,36.134,176.790,12.500,0.000,28.173,1153.736,7802.544,532.780,2125.312,535.224,33.404,1298.294,0.000,2114.422,0.000,0.536,0.000
$DEVICE_MAMPS,150.332,114.283,926.536,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.773,344.145,442.645,831.013,1256.733,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,44637,580
$CAP_FILE_SIZE,117488,0
$CFSIZE,260165632,175230976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020910,232906,2255.063,-15745.703,9,1.2,25,10.1